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检索条件"任意字段=Conference on Sensor Fusion and Distributed Robotic Agents"

共 371 条记录，以下是221-230 订阅

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Recursive Total Variation Filtering Based 3D fusion

Recursive Total Variation Filtering Based 3D Fusion

引用

13th International Joint conference on e-Business and Telecommunications (ICETE)

作者： Rajput, M. A. A. Funk, E. Boerner, A. Hellwich, O. German Aerosp Ctr Inst Opt Sensor Syst Dept Informat Proc Opt Syst Berlin Germany Tech Univ Berlin Comp Vis & Remote Sensing Berlin Germany

ISBN: (纸本)9789897581960

3D reconstruction from mobile image sensors is crucial for many offline-inspection and online robotic application. While several techniques are known today to deliver high accuracy 3D models from images via offline-processing, 3D reconstruction in real-time remains a major goal still to achieve. This work focuses on incremental 3D modeling from error prone depth image data, since standard 3D fusion techniques are tailored on accurate depth data from active sensors such as the Kinect. Imprecise depth data is usually provided by stereo camera sensors or simultaneous localization and mapping (SLAM) techniques. This work proposes an incremental extension of the total variation (TV) filtering technique, which is shown to reduce the errors of the reconstructed 3D model by up to 77% compared to state of the art techniques.

关键词： Large Scale Automated 3D Modelling Mobile robotics Efficient Data Structures 3D Database

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A multi-modal architecture for intelligent decision making in cars

引用

4th International conference on Universal Access in Human-Computer Interaction held at the HCI International 2007

作者： Hussain, Qamir Jonsson, Ing-Marie QHC Consulting Ltd Dublin Ireland Ansima Inc Los Gatos CA USA

ISBN: (纸本)9783540732808

This paper describes a software architecture named "Gatos" engineered for intelligent decision making. The architecture is built on a distributed multi-agent system cougaar. Gatos provides a solution for sensor fusion. We propose using multiple sensors to monitor driver status, driving performance, and the driving environment in order to address bad driving behavior. Our approach for a Driving Monitor is based on both monitoring and regulating driver behavior. The system is designed to intervene and to interact with the driver in real time (if possible) to regulate their behavior and promote safe driving. A prototype is implemented using a driving simulator, but infrastructure buildup and new in-vehicle technologies make this a feasible solution for vehicles on the road.

关键词： software agents distributed computing multi-agent parallel computing driving simulator driving behavior driver status driver monitoring

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distributed Collaborative Localization for a Heterogeneous Multi-Robot System 27

Distributed Collaborative Localization for a Heterogeneous M...

引用

IEEE 27th Canadian conference on Electrical and Computer Engineering (CCECE)

作者： Wanasinghe, Thumeera R. Mann, George K. I. Gosine, Raymond G. Mem Univ Newfoundland Fac Engn & Appl Sci Intelligent Syst Lab St John NF A1B 3X5 Canada

ISBN: (纸本)9781479930999

This paper studies the problem of collaborative localization for a heterogeneous multi-robotic system (MRS), particularly an MRS with one or more robots with accurate selflocalization capabilities (leader) and several robots with little or no such capabilities (child). Finite-range sensing is one of the major limitation in the collaboration of an MRS when the child robots rely on inter-robot relative measurements (IRRM) between themselves and the leader robot for localization. This study proposes a collaborative localization (CL) scheme, which has the ability to localize child robots even when they operate beyond the field of view (FOV) of the leader robots. A distributed sensor fusion architecture is introduced in order to reduce the communication bandwidth, processing power, and memory usage requirements for the leader robot. Thus, the resulting implementation is scalable in terms of the number of robots in the team. The performance of the proposed localization scheme was evaluated in Monte Carlo simulations and a series of experiments using a team of six mobile robots. Both the experiment and the simulation results demonstrated that the proposed CL scheme is capable of establishing a localization for child robots with 1 similar to 10 cm positional accuracy and 0.01 similar to 0.1 rad orientational accuracy, even when they operate beyond the FOV of the leader robot.

关键词： Monte Carlo methods

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Layered mode selection logic control for border security

Layered mode selection logic control for border security

引用

conference on Unattended Ground, Sea, and Air sensor Technologies and Applications IX

作者： Born, T. Ferrer, G. Wright, A. M. Wright, A. B. Hendrix Coll Dept Phys 1600 Washington Ave Conway AR 72032 USA Univ Arkansas Little Rock Dept Appl Sci Little Rock AR 72204 USA

ISBN: (纸本)9780819466846

Challenges in border security may be resolved through a team of autonomous mobile robots configured as a flexible sensor array. The robots will have a prearranged formation along a section of a border, and each robot will attempt to maintain a uniform distance with its nearest neighbors. The robots will carry sensor packages which can detect a signature that is representative of a human (for instance, a thermal signature). When a robot detects an intruder, it will move away such that it attempts to maintain a constant distance from the intruder and move away from the border (i.e. into its home territory). As the robot moves away from the border, its neighbors will move away from the border to maintain a uniform distance with the moving robot and with their fixed neighbors. The pattern of motion in the team of robots can be identified, either algorithmically by a computer or by a human monitor of a display. Unique patterns are indicative of animal movement, human movement, and mass human movement. To realize such a scheme, a new control architecture must be developed. This architecture must be fault tolerant to sensor and manipulator failures, scalable in number of agents, and adaptable to different robotic base platforms (for instance, a UGV may be appropriate at the southern border and a UAV may be appropriate at the northern border). The Central Arkansas robotics Consortium has developed an architecture, called Layered Mode Selection Logic (LMSL), which addresses all of these concerns. The overall LMSL scheme as applied to a multi-agent flexible sensor array is described in this paper.

关键词： mode selection logic fuzzy sensor fusion network border security

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On Decision Making In Human-Machine Networks 16

On Decision Making In Human-Machine Networks

引用

16th IEEE International conference on Mobile Ad Hoc and Smart Systems (IEEE MASS)

作者： Geng, Baocheng Varshney, Pramod K. Syracuse Univ Dept Elect Engn & Comp Sci Syracuse NY 13244 USA

ISBN: (纸本)9781728146010

Human behavior while decision making is quite complex and uncertain. There are fundamental differences between traditional decision making systems based on sensor data and systems where the agents in the decision making process include humans. The modeling and analysis of human-machine collaborative decision making has become an important research area due to the potential applications in a variety of complex autonomous systems. Incorporating human inputs with physical sensors can be advantageous in enhancing situational assessment for certain situations, and at the same time, brings in technical challenges such as how to characterize the human decision making behavior. In this paper, we discuss some aspects of human-machine networks by focusing on three schemes that include collaborative human decision making with random local thresholds, decision fusion in integrated human-machine networks and binary decision making under cognitive biases. In each case, we aim to optimize the system performance based on appropriate modeling of the human behavior. We also provide a summary of current challenges and research directions related to this problem domain.

关键词： Human-machine networks human behavioral analysis human decision making multi-modal fusion distributed detection

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On Computing Multi-agent Itinerary Planning in distributed Wireless sensor Networks 10th

On Computing Multi-agent Itinerary Planning in Distributed W...

引用

10th International conference on Wireless Algorithms, Systems, and Applications (WASA)

作者： Liu, Bo Cao, Jiuxin Yin, Jie Yu, Wei Liu, Benyuan Fu, Xinwen Southeast Univ Sch Comp Sci & Engn Nanjing Jiangsu Peoples R China Towson Univ Dept Comp & Informat Sci Towson MD USA Univ Massachusetts Dept Comp Sci Lowell MA USA

ISBN: (纸本)9783319218373;9783319218366

The agent technology has been widely used in wireless sensor networks to perform data fusion and energy balancing. Existing multi-agent itinerary algorithms are either time-consuming, or too complicated to realize in reality. In this paper, we design a routing itinerary planning scheme for the multi-agent itinerary problem by constructing the spanning tree of WSN nodes. First, we build a multi-agent based distributed WSN (DWSN) model. Second, we present a novel routing itinerary algorithm named DMAIP, which can group all the sensor nodes into multiple itineraries for agents. We also extend DMAIP and design DMAIP-E, which can avoid long distance transmission in DMAIP. Our evaluation results demonstrate that our algorithms are better in the aspect of life cycle and energy consumption than the existing DWSN data collecting schemes.

关键词： distributed wireless sensor network Mobile agent Itinerary planning Energy efficiency

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A small, cheap, and portable reconnaissance robot

A small, cheap, and portable reconnaissance robot

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conference on sensors, and Command, Control, Communications, and Intelligence (C31) Technologies for Homeland Security and Homeland Defense IV

作者： Kenyon, SH Creary, D Thi, D Maynard, J Northeastern Univ Sch Engn Technol Boston MA 02115 USA

ISBN: (纸本)0819457639

While there is much interest in human-carriable mobile robots for defense/security applications, existing examples are still too large/heavy, and there are not many successful small human-deployable mobile ground robots, especially ones that can survive being thrown/dropped. We have developed a prototype small short-range teleoperated indoor reconnaissance/surveillance robot that is semi-autonomous. It is self-powered, self-propelled, spherical, and meant to be carried and thrown by humans into indoor, yet relatively unstructured, dynamic environments. The robot uses multiple channels for wireless control and feedback, with the potential for inter-robot communication, swarm behavior, or distributed sensor network capabilities. The primary reconnaissance sensor for this prototype is visible-spectrum video. This paper focuses more on the software issues, both the onboard intelligent real time control system and the remote user interface. The communications, sensor fusion, intelligent real time controller, etc. are implemented with onboard microcontrollers. We based the autonomous and teleoperation controls on a simple finite state machine scripting layer. Minimal localization and autonomous routines were designed to best assist the operator, execute whatever mission the robot may have, and promote its own survival. We also discuss the advantages and pitfalls of an inexpensive, rapidly-developed semi-autonomous robotic system, especially one that is spherical, and the importance of human-robot interaction as considered for the human-deployment and remote user interface.

关键词： reconnaissance surveillance remote sensing mobile sensor platform miniature robots teleoperation scripted robots human-robot interaction sensor networks

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RoboCup-Rescue project: a robotic approach to the disaster mitigation problem

RoboCup-Rescue project: a robotic approach to the disaster m...

引用

ICRA 2000: IEEE International conference on robotics and Automation

作者： Tadokoro, Satoshi Kitano, Hiroaki Takahashi, Tomoichi Noda, Itsuki Matsubara, Hitoshi Shinjoh, Atsushi Koto, Tetsuo Takeuchi, Ikuo Takahashi, Hironao Matsuno, Fumitoshi Hatayama, Mitsunori Nobe, Jun Shimada, Susumu Kobe Univ Kobe Japan

This paper introduces the RoboCup-Rescue Simulation Project, a contribution to the disaster mitigation, search and rescue problem. A comprehensive urban disaster simulator is constructed on distributed computers. Heterogeneous intelligent agents such as fire fighters, victims and volunteers conduct search and rescue activities in this virtual disaster world. A real world interface integrates various sensor systems and controllers of infrastructures in the real cities with the virtual world. Real-time simulation is synchronized with actual disasters, computing complex relationship between various damage factors and agent behaviors. A mission-critical man-machine interface provides portability and robustness of disaster mitigation centers, and augmented-reality interfaces for rescue parties in real disasters. It also provides a virtual-reality training function for the public. This diverse spectrum of RoboCup-Rescue contributes to the creation of the safer social system.

关键词： robotics

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Mobile Agent-based Remote Vision sensor fusion

Mobile Agent-based Remote Vision Sensor Fusion

引用

IEEE/ASME International conference on Mechtronic and Embedded Systems and Applications, MESA

作者： Stephen S. Nestinger David Ko Alex Rumer Harry H. Cheng Department of Mechanical and Aeronautical Engineering University of California Davis Davis CA USA Department of Mechanical and Aeronautical Engineering University of California슠Davis Davis CA USA

Vision systems have become popular for remote vision sensing in geographically distributed environments due to vast amount of information they provide. However, remote vision sensors are generally plagued with power and communication bandwidth constraints. Mobile agent technology is a salient solution to geographically distributed and dynamic domains that require subsystems to interact with each other. Mobile agent technology increases power efficiency by reducing communication requirements and increases fusion processing by allowing in-situ integration of on-demand visual processing and analysis algorithms. A mobile agent can dynamically migrate from one vision sensor to another and combine all necessary sensor data in a desired manner specific to the system requesting the data. This paper presents a remote vision fusion architecture based on mobile agent technology that provides a flexible vision fusion solution. The architecture utilizes the Mobile-C library as a basis for the mobile agency along with OpenCV and ImageMagick for vision processing and manipulation. An application example is provided that demonstrates the benefit of using mobile agents for vision fusion in remote vision systems. The validity of the architecture is proven in an experimental setup with a retrofitted robotic cell comprised of a Puma 560, IBM 7575, a conveyor system, and a vision system.

关键词： sensor fusion Machine vision sensor systems Mobile agents Robot sensing systems Mobile robots Robot vision systems Mobile communication Electrical equipment industry Industrial control

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Optimal Landmark Placement for Indoor Positioning using Context Information and Multi-sensor Data

Optimal Landmark Placement for Indoor Positioning using Cont...

引用

IEEE International Instrumentation and Measurement Technology conference (I2MTC) - Discovering New Horizons in Instrumentation and Measurement

作者： Magnago, V. Bevilacqua, P. Palopoli, L. Passerone, R. Fontanelli, D. Macii, D. Univ Trento Dept Informat Engn & Comp Sci Trento Italy Univ Trento Dept Ind Engn Trento Italy

ISBN: (纸本)9781538622223

The most effective solutions for indoor positioning of mobile agents typically rely on multi-sensor data fusion. In particular, good trade-offs in terms of accuracy, scalability and availability can be achieved by combining dead reckoning techniques (e.g. based on odometry) and measurements of distance and attitude with respect to suitable landmarks with a known position and/or orientation within a given reference frame. A crucial problem of this kind of techniques is landmark deployment, which should keep into account not only the limited detection range of the adopted sensors and the non-null probability of missing a landmark, even if it actually lies within the sensor detection area (SDA). This paper focuses on minimum landmark placement taking into account possible environment contextual information. This solution relies on a greedy placement algorithm that optimally solves the problem while keeping positioning uncertainty below a given limit. The correctness of the proposed approach is verified through multiple simulations in the context of the EU project ACANTO, which requires to localise one or more smart robotic walkers in large, public and potentially crowded environments such as shopping malls or airports.

关键词： Indoor localisation position tracking landmark placement optimisation

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